CN104584773A - On-orbit self-propelled type harvesting device for greenhouse leaf vegetable harvesting robot and harvesting method - Google Patents
On-orbit self-propelled type harvesting device for greenhouse leaf vegetable harvesting robot and harvesting method Download PDFInfo
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- CN104584773A CN104584773A CN201510028490.0A CN201510028490A CN104584773A CN 104584773 A CN104584773 A CN 104584773A CN 201510028490 A CN201510028490 A CN 201510028490A CN 104584773 A CN104584773 A CN 104584773A
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Abstract
The invention discloses an on-orbit self-propelled type harvesting device for a greenhouse leaf vegetable harvesting robot and a harvesting method. According to the technical scheme adopted by the invention, the on-orbit self-propelled type harvesting device comprises a cutter device, a pushing-gathering device, a transmitting device, a tensioning device, a travelling device, a horizontal lifting mechanism, a control part and a storage battery, wherein the cutter device is used for harvesting leaf vegetables in a working area; the pushing-gathering device is used for pushing the harvested leaf vegetables to a conveyor belt; the transmitting device is used for transmitting the harvested leaf vegetables to a vegetable basket; the tensioning device is used for tensioning the conveyor belt in an operation process; the travelling mechanism is used for driving the whole machine to move on a parallel rail; the control part is used for controlling each motor to operate at proper time. According to the on-orbit self-propelled type harvesting device, self-propelled travelling on the parallel rail in the leaf vegetable harvesting process is realized without manually interfering a travelling direction and forwarding speed of the harvester, so that the harvesting efficiency is high and the labor power is saved. Cutters not only can regulate height above the ground, but also can be kept in a horizontal cutting gesture all the time; a rope section type pushing-gathering machine can be used for collecting, cutting and pushing the leaf vegetables to the conveyor belt under the condition of not damaging the leaf vegetables. Two cutters which oppositely move back and forth are adopted, so that efficient cutting is realized.
Description
Technical field
The invention belongs to field of agricultural robots, relate to a kind of leaf vegetables and to gather the self-propelled in-orbit recovering device of robot and collecting method, particularly relate to the automation leaf vegetables recovery operations in Novel greenhouse vegetables with green leaves factorial praluction.
Technical background
The vegetable variety leaf vegetables of China's establishing in large scale is in the majority, and leaf vegetables is not only containing nutriments such as rich in protein, vitamin and mineral matters, and strong adaptability, is applicable to planting throughout the year; The quality that vegetables with green leaves are fresh with it, tender, likes that by consumers in general the huge market demand has better economic worth deeply.
In industrialized agriculture is produced, greenhouse by solar heat utilizes natural energy resources daylight to improve room temperature, supplements heating, can better meet the needs that leaf vegetables grows at Cold Winter application warming-up device.Using the warming pipeline in greenhouse as running rail, greenhouse is become automatic control that semi-structure environment is convenient to realize chamber operation robot, reduce the input cost of Work robot, the facility Work robot of therefore walking in-orbit can be widely used in large-scale attached-greenhouse.
Under Temperature in Greenhouse, illumination, the good condition of rich water, leaf vegetables can be gathered in the crops in general 30 ~ 60 days.The tender seedling results of the green vegetables such as current leaf vegetables still rely on manpower to complete, and the amount of labour is large, efficiency is low, and leaf vegetables is gathered becomes the production link that most work consuming requires great effort.Along with the raising of labor cost, the intelligent production recovery arrangement of mechanization is taked to be current needs.
Through finding the literature search of prior art, Chinese invention patent " green vegetables grain header " number of patent application 201110260154.0, provides a kind of change cutter height, the vegetable harvester of harvesting green vegetables, but when changing cutter height, cutter still maintenance level cannot be made.And existing vegetable harvester in harvesting process people promote gather machinery grasp harvesting square to and gait of march, such operation still needs manual intervention, and production efficiency is low, lavishes labor on.
Summary of the invention
The present invention is directed to leaf vegetables to gather the deficiency existed, provide a kind of leaf vegetables and to gather the self-propelled in-orbit recovering device of robot and collecting method, significant for the automation recovery operations in Novel greenhouse vegetables with green leaves factorial praluction.
The gather self-propelled in-orbit recovering device of robot of a kind of leaf vegetables of the present invention adopts following technical scheme: frame, cutter device, dial device, conveyer, tensioning apparatus, running gear, horizontal lifting mechanism, control section and accumulator.Described machinery mount is used for supporting and fixing other devices; Described cutter device is for gathering in the vegetables of working region; Described dials device for the leaf vegetables of harvesting is pushed conveyer belt; Described conveyer is used for the leaf vegetables of harvesting to be transported to dish basket; Described tensioning apparatus is used in operation process, the tensioning of conveyer belt; Described running gear is moved in working region for driving complete machine; Described control section is for controlling the in good time running of each motor; Described accumulator provides energy for various piece.
Described conveyer comprises drive roll, carrying roller, idler roller, driven voller, roller fixed head, conveyer belt, conveyer belt motor, sprocket wheel, vertical shaft bearing, baffle plate, flow apron, cleaning brush and dish basket.Described conveyer belt top holds up a horizontal plane by drive roll and carrying roller, and conveyer belt bottom is strained to inclined plane by driven voller, and the idler roller of conveyer belt lower floor carries out tensioning; Described drive roll two ends are fixed in frame by vertical shaft bearing, and drive roll side axle head is connected with sprocket wheel, and the sprocket wheel of axle head becomes Chain conveyer with the sprocket-shaped be connected on conveyer belt motor shaft, and drive roll driving conveying belt is rotated; Described conveyer belt motor is fixed in frame by electric machine support; The axle head of described carrying roller both sides is fixed on the roller fixed head in frame; Described idler roller two ends are fixed on roller fixed head; Described roller fixed head is provided with four slotted eyes; Described driven voller is fixed on parallel-crank mechanism; Described cleaning brush is the hairbrush of one section of cleaning conveyer belt dust, and cleaning brush is arranged on parallel-crank mechanism; Described baffle plate is fixed on parallel-crank mechanism, and two side shields block the dual-side edge of conveyer belt respectively; The support installing of described flow apron in frame, both sides flow apron formed on conveyer belt horizontal plane entrance large, go out young trapezoidal general layout, leaf vegetables falls dish basket after flow apron gathers; Described dish basket is placed in the gripper shoe of frame, and in view of solid accumulation angle, dish basket center line is put in belt edges, and leaf vegetables falls dish basket after flow apron gathers, and leaf vegetables is piled up from centre, as much as possiblely holds leaf vegetables.Conveyer utilizes the lifting of horizontal lifting device to change conveyer belt angle of inclination, thus changes the terrain clearance of conveyer bottom.
Described tensioning apparatus comprises tensioning bolt, bolt, bolt holder, square bearing seat; Described roller fixed head is provided with four slotted eyes; Four locating holes of described square bearing seat are corresponding with four slotted eyes of roller fixed head to be overlapped, and square bearing seat is fixed on roller fixed head by bolt; Described idler roller both sides axle head is fixed on square bearing seat, and described tensioning bolt is fixed on roller fixed head by bolt holder, and tensioning bolt tail end withstands square bearing seat edge center position; Conveyer belt relaxes, and tightened by tensioning bolt, tensioning bolt withstands square bearing seat, and idler roller carries out tensioning to conveyer belt, then is tightened by bolt.
Described horizontal lifting device comprises parallel-crank mechanism and elevating mechanism.Described parallel-crank mechanism comprises long connecting rod, horizon bar and rhombus bearing block.Described parallel-crank mechanism is formed by being hinged by two long connecting rods and a horizon bar; Described long connecting rod upper end, top is fixed on the roller carrier shaft of conveyer by rhombus bearing block, forms a hinge, and the through hole of long connecting rod lower end, top and the through hole of horizon bar are all fixed on the axle of driven voller, forms a hinge; All the other two hinges are that adjacent rod member passes through pinned connection; Described horizon bar keeps level, and parallel-crank mechanism is arranged symmetrically with frame upper conveyor belt both sides; Described elevating mechanism comprises slide rail, electric pushrod, drive plate, connecting plate, cross bar, sliding bar and holder.Described slide rail is made up of line slideway and slide block, and described line slideway is fixed on the symmetric position bottom frame; Described connecting plate is fixed on long connecting rod; Described cross bar two ends are affixed with two side connecting plates respectively; Described holder is fixed on the slide block of line slideway, and described sliding bar lower end and the holder be fixed on line slideway are hinged, and the upper end of sliding bar and the holder on cross bar are hinged; Described drive plate two ends are fixed on the slide block of both sides line slideway respectively; Described electric pushrod base is fixed on the pusher bar support of frame, and electric pushrod is fixed on drive plate by bearing, and electric pushrod and line slideway keeping parallelism.The flexible drive plate that promotes of described electric pushrod drives slide block, and sliding bar is with slide block slide anteroposterior, and cross bar drives parallel-crank mechanism movable, thus changes the terrain clearance of horizon bar.When the horizon bar of parallel-crank mechanism changes terrain clearance, the driven voller of conveyer changes terrain clearance with horizon bar, the conveyer belt of conveyer rotates around carrying roller axle center simultaneously, by changing conveyer belt angle of inclination, thus changes the terrain clearance of conveyer bottom.
Described cutter device comprises cutter, drive motors, eccentric wheel, driving crank, motor support base, gear case assembly, driving square groove, ground way, cutter gripper shoe and nearside divider.Described driving crank, eccentric wheel, driving square groove composition slider-crank mechanism; Described driving square groove is the rectangular shaped rim that a upper surface is provided with terraced steps, drives square groove scuncheon to be all provided with slotted eye; Described ground way is one section of guide rail being provided with a pair dovetail groove, and described ground way is fixed on the casing of gear assembly; Former and later two drive the terraced steps of square groove upper surface to be enclosed within dovetail groove corresponding to ground way respectively; Described eccentric wheel is the circular wheel being provided with an eccentric through-hole, two eccentric wheel edges are embedded in two slotted eyes driving square groove respectively, described driving crank is connected through the eccentric through-hole on two eccentric wheels and two eccentric wheels, the axle center of double eccentric wheel and the axle center of driving crank in alignment, to reduce and to eliminate the vibrations that Cutting obstruction moment causes; Described cutter is the blade that a length of tape has intensive cutter tooth, is provided with some slotted eyes on rear side of cutter; Described cutter gripper shoe be provided with some circular holes, cutter gripper shoe two ends are fixed on parallel-crank mechanism horizon bar; Cutter device adopts two cutter, and upper and lower two panels blade is bolted in cutter gripper shoe, and two cutter one end drive square groove affixed with front and back two respectively; Described drive motors is fixed on horizon bar by motor support base; Described gear case assembly comprises input gear, driven wheel and casing; Described input gear and driven wheel are fixed and are engaged in casing, adopt pinion band gear wheel to carry out retarded motion and obtain moment of torsion, driven wheel and drive motors axle affixed, input gear and driving crank one end affixed, gear-box is fixed on horizon bar by casing; Drive motors rotates, driven wheel drives driving crank, and the eccentric wheel be connected with driving crank is driving eccentric rotary in square groove, and front and back two drive square groove to do relative motion in ground way, drive square groove to drive upper and lower two panels cutter to link to move reciprocatingly, realize cutter tooth alternately.Be fixed on the cutter device on the platform of parallelogram and conveyer belt bottom, carry out horizontal lifting with parallel-crank mechanism motion, adapt to the vegetables of differing heights.
Described group hold together device comprise dial hold together device, dial hold together support, bearing block, electric rotating machine, belt wheel and belt.Described support of dialling is fixed on long connecting rod, and described device of dialling comprises bobbin and dials rope; Described bobbin is provided with a circular hole every 90 ° in a circumferential direction, is provided with a circular hole in the axial direction every 8-10mm, and described bobbin two ends are provided with multidiameter, and two ends multidiameter is fixed on group bearing block holding together support; Described rope of dialling is fixed on the circular hole of bobbin by two end knots; Described electric rotating machine is fixed on long connecting rod by electric machine support; Electric rotating machine is driven by V belt translation and dials device rotation, dials rope and stretches out whipping under the influence of centrifugal force, pushed on conveyer belt by the leaf vegetables of the harvesting of accumulation.
Described running gear comprises travel wheel, movable motor, travel wheel support, sprocket wheel, chain and parallel orbit.Described travel wheel is fixed in frame by travel wheel support; Described movable motor is fixed in frame, and movable motor and travel wheel adopt Chain conveyer, and drive chassis is along adding parallel orbit walking.Described parallel orbit can adopt the warming pipeline be arranged in parallel being positioned at field place in greenhouse.
Described control section connects infrared emission inductor by the minimum control system of single-chip microcomputer by decoding interface, and infrared emission receptor obtains the collection dish amount of food basket on harvester; The minimum control system of single-chip microcomputer is by limit signal input interface serial connection travel switch; The minimum control system of single-chip microcomputer is connected driver of advancing, drive roll driver respectively by control signal output interface, is dialled driver, ceding of Taiwan driver and electric pushrod, controls each driver and starts in good time or close, and controls electric pushrod and stretches.
A kind of facility leaf vegetables is gathered the collecting method of self-propelled in-orbit recovering device of robot: Single-chip Controlling electric pushrod drives horizontal lifting mechanism adjustment cutter terrain clearance, start driver of advancing, drive roll driver, dial driver and ceding of Taiwan driver, recovering device completes harvesting by certain gait of march in orbit, the leaf vegetables of harvesting pushes on conveyer through dialling device, and leaf vegetables enters food basket by conveyer; After food basket fills with leaf vegetables, food basket dish-up amount information experienced by infrared emission sensor, single-chip computer control system sends instruction by control signal output interface and closes driver of advancing, drive roll driver, dials driver and ceding of Taiwan driver, electric pushrod rises reaping apparatus, and recovering device continues harvesting vegetables after changing empty food basket; When the edge of a field encountered by the travel switch of recovering device, recovering device is closed driver of advancing and is halted.
A kind of leaf vegetables of the present invention is gathered the course of work of self-propelled in-orbit recovering device of robot, and step is as follows:
1) cutter Height Adjustment: for the growing way that vegetables are different, electric pushrod telescopic band movable slider, sliding bar is slide anteroposterior together, the height of adjustment parallel-crank mechanism, the height of adjustment cutter.
2) speed adjustment: for the density situation of greenhouse vegetable, the gait of march of adjustment leaf vegetables harvester.
3) gather: gather in a line by track, then the harvesting that enters a new line.
Compared with present technology, the present invention has the following advantages:
1, the present invention independently walks on parallel orbit in harvesting process, and without the need to manual intervention harvester direction of travel and gait of march, harvest efficiency is high, saves labour.
2, the present invention adopts parallel four limit row mechanism controls cutter devices and conveyer belt apparatus interlock lifting, can not only adjust cutter terrain clearance, and realize cutter and remain that horizontal level is constant.
3, the present invention adopts soft rope joint formula to dial device, when not damaging leaf vegetables, completing leaf vegetables is allocated to cutter place cuts, also being pushed on conveyer belt by the leaf vegetables after cutting.
4, the present invention adopts upper and lower two panels reciprocating knife, and two cutteves move back and forth in opposite directions, improve relative velocity, can two blades clampings shear, again can hilted broadsword sawing, realizes high efficiency cutting.
Accompanying drawing explanation
Fig. 1 is that a kind of leaf vegetables is gathered the structure chart of self-propelled in-orbit recovering device of robot;
Fig. 2 is the front view of self-propelled recovering device in-orbit;
Fig. 3 is the vertical view of self-propelled recovering device in-orbit;
Fig. 4 is the horizontal lifting device of self-propelled recovering device in-orbit;
Fig. 5 is the cutter device structure chart of self-propelled recovering device in-orbit;
Fig. 6 is the tensioning device structure figure of self-propelled recovering device in-orbit;
Fig. 7 be in-orbit self-propelled recovering device dial hold together device structure chart;
Fig. 8 is self-propelled recovering device control system schematic diagram in-orbit;
In figure: 1, horizontal rail 2, electric rotating machine 3, baffle plate 4, sprocket wheel 5, dish basket 6, gripper shoe 7, frame 8, travel wheel 9, dial device 10, dial support 11, connecting plate 12, roller fixed head 13, square bearing seat 14, flow apron 15, control box 16, accumulator 17, cutter 18, conveyer belt 19, conveyer belt motor 20, drive roll 21, vertical shaft bearing 22, electric pushrod 23, pusher bar support 24, drive plate 25, long connecting rod 26, idler roller 27, carrying roller 28, connecting rod 29, cleaning brush 30, holder 31, belt pole 32, driven voller 33, horizon bar 34, sliding bar 35, slide block 36, line slideway 37, cutter slotted eye 38, bolt 39, drive square groove 40, ground way 41, drive motors 42, input gear 43, eccentric wheel 44, nearside divider 45, driving crank 46 tensioning slotted eye 47, bolt holder 48, tensioning bolt 49, dial rope 50, bobbin
Embodiment
Below in conjunction with accompanying drawing being described further patent of the present invention.As shown in Figure 1,2,3, 4, described conveyer comprises drive roll (20), carrying roller (27), idler roller (26), driven voller (32), roller fixed head (12), conveyer belt (18), conveyer belt motor (19), sprocket wheel (4), vertical shaft bearing (21), baffle plate (3), flow apron (14), cleaning brush (29), gripper shoe (6) and dish basket (5).Described conveyer belt (18) top holds up a horizontal plane by drive roll (20) and carrying roller (27), conveyer belt bottom is strained to inclined plane by driven voller (32), and the idler roller (26) of conveyer belt lower floor carries out tensioning; Described drive roll (20) two ends are fixed in frame by vertical shaft bearing (21), drive roll side axle head is connected with sprocket wheel, the sprocket wheel (4) of axle head becomes Chain conveyer with the sprocket-shaped be connected on conveyer belt motor shaft, and drive roll driving conveying belt is rotated; Described conveyer belt motor (19) is fixed in frame by electric machine support; The axle head of described carrying roller (27) both sides is fixed on the roller fixed head in frame; Described idler roller (27) two ends are fixed on roller fixed head (12); Described driven voller (32) is fixed on parallel-crank mechanism; Described cleaning brush (29) is the hairbrush of one section of cleaning conveyer belt dust, and cleaning brush is arranged on parallel-crank mechanism; Described baffle plate (3) is fixed on parallel-crank mechanism, and two side shields block the dual-side edge of conveyer belt respectively; The support installing of described flow apron (14) in frame (8), both sides flow apron formed on conveyer belt horizontal plane entrance large, go out young trapezoidal general layout, leaf vegetables falls dish basket (5) after flow apron gathers; Described dish basket (5) is placed in the gripper shoe (6) of frame, in view of solid accumulation angle, dish basket center line is put in belt edges, and leaf vegetables falls dish basket after flow apron gathers, leaf vegetables is piled up from centre, as much as possiblely holds leaf vegetables.Conveyer utilizes the lifting of horizontal lifting device to change conveyer belt (18) angle of inclination, thus changes the terrain clearance of conveyer bottom.
As shown in Fig. 2,4,6, described tensioning apparatus comprises tensioning bolt (48), bolt, bolt holder (47), square bearing seat (13).Four locating holes of described square bearing seat are corresponding with four tensioning slotted eyes (46) of roller fixed head (12) to be overlapped, and square bearing seat is fixed on roller fixed head by bolt; Described idler roller (26) both sides axle head is fixed on square bearing seat, described tensioning bolt is fixed on roller fixed head by bolt holder, tensioning bolt tail end withstands square bearing seat edge center position, conveyer belt relaxes, tensioning bolt is tightened, tensioning bolt withstands square bearing seat, and idler roller carries out tensioning to conveyer belt, then is tightened by bolt.
As shown in Figure 1,2,3, 4, described horizontal lifting device comprises parallel-crank mechanism and elevating mechanism.Described parallel-crank mechanism comprises long connecting rod (25), horizon bar (33) and rhombus bearing block.Described parallel-crank mechanism is formed by being hinged by two long connecting rods and a horizon bar; Described top long connecting rod (25) upper end is fixed on carrying roller (27) axle of conveyer by rhombus bearing block, form a hinge, the through hole of long connecting rod lower end, top and the through hole of horizon bar (33) are all fixed on the axle of driven voller (32), form a hinge; All the other two hinges are that adjacent rod member passes through pinned connection; Described horizon bar (33) keeps level, and two parallel-crank mechanisms are arranged symmetrically with in frame; Described elevating mechanism comprises slide rail, electric pushrod (22), drive plate (24), connecting plate (11), cross bar, sliding bar (34) and holder (30).Described slide rail is made up of line slideway (36) and slide block (35), and described line slideway is fixed on the symmetric position bottom frame; Described connecting plate (11) is fixed on long connecting rod; Described cross bar two ends are affixed with two side connecting plates respectively; Described holder (30) is fixed on the slide block (35) of line slideway, described sliding bar (34) lower end and the holder (34) be fixed on line slideway are hinged, and the upper end of sliding bar and the holder (34) on cross bar are hinged; Described drive plate (24) two ends are fixed on the slide block of both sides line slideway respectively; Described electric pushrod (22) base is fixed on the pusher bar support of frame, and electric pushrod (22) is fixed on drive plate (24) by bearing, and electric pushrod and line slideway keeping parallelism.The flexible drive plate (24) that promotes of described electric pushrod (22) drives slide block, and sliding bar is with slide block slide anteroposterior, and cross bar drives parallel-crank mechanism movable, thus changes the terrain clearance of horizon bar.When the horizon bar of parallel-crank mechanism changes terrain clearance, the driven voller of conveyer changes terrain clearance with horizon bar, the conveyer belt of conveyer rotates around carrying roller axle center simultaneously, by changing conveyer belt angle of inclination, thus changes the terrain clearance of conveyer bottom.
As shown in Fig. 3,5, described cutter device comprises cutter (17), drive motors (41), eccentric wheel (43), driving crank (45), motor support base, gear case assembly, driving square groove (39), ground way (40), cutter gripper shoe and nearside divider (44).Described driving crank (45), eccentric wheel (43), driving square groove (39) and ground way (40) composition slider-crank mechanism; Described driving square groove (39) is the rectangular shaped rim that a upper surface is provided with terraced steps, drives the scuncheon of square groove to be all provided with slotted eye; Described ground way (40) is one section of guide rail being provided with two parallel dovetail, and ground way is fixed on the casing of gear assembly; Former and later two drive the terraced steps of square groove upper surface to be fastened in dovetail groove corresponding to ground way respectively; Described eccentric wheel (43) is the circular wheel being provided with an eccentric through-hole, two eccentric wheel edges are embedded in two slotted eyes driving square groove respectively, described driving crank (45) is connected through the eccentric through-hole on two eccentric wheels and two eccentric wheels, the axle center of double eccentric wheel and the axle center of driving crank in alignment, to reduce and to eliminate the vibrations that Cutting obstruction moment causes; Described cutter (17) is the blade that a length of tape has intensive cutter tooth, is provided with 4-6 slotted eye on rear side of cutter; Described cutter gripper shoe be provided with 4-6 circular hole (should be corresponding with cutter slotted eye number), cutter gripper shoe two ends are fixed on parallel-crank mechanism horizon bar; Cutter device adopts two cutter, and upper and lower two panels blade is bolted in cutter gripper shoe, and two cutter one end drive square groove affixed with front and back two respectively; Described drive motors (41) is fixed on horizon bar (33) by motor support base; Described gear case assembly comprises input gear (42), driven wheel and casing; Described input gear (42) and driven wheel are fixed and engage in casing, adopt pinion band gear wheel to carry out retarded motion and obtain moment of torsion, driven wheel and drive motors axle affixed, input gear (42) is affixed with driving crank one end, and gear-box is fixed on horizon bar by casing; Drive motors (41) rotates, driven wheel drives driving crank (45), the eccentric wheel (43) be connected with driving crank is driving eccentric rotary in square groove, front and back two drive square groove (39) to do relative motion in ground way (40), drive square groove (39) to drive upper and lower two panels cutter to link to move reciprocatingly, realize cutter tooth alternately.Be fixed on the cutter device on the platform of parallelogram and conveyer belt bottom, carry out horizontal lifting with parallel-crank mechanism motion, adapt to the vegetables of differing heights.
As shown in Fig. 1,2,3,7, described group hold together device comprise dial hold together device (9), dial hold together support (10), bearing block, electric rotating machine (2), belt wheel and belt.Described support (10) of dialling is fixed on long connecting rod (25), and described device of dialling comprises bobbin (50) and dials rope (49); Described bobbin (50) is provided with a circular hole every 90 ° in a circumferential direction, is provided with a circular hole in the axial direction every 8-10mm, and described bobbin two ends are provided with multidiameter, and two ends multidiameter is fixed on group bearing block holding together support; Described rope (49) of dialling is fixed on the circular hole of bobbin by two end knots; Described electric rotating machine (2) is fixed on long connecting rod by electric machine support; Electric rotating machine is driven by V belt translation and dials device rotation, dials rope and stretches out whipping under the influence of centrifugal force, pushed on conveyer belt by the leaf vegetables of the harvesting of accumulation.
As shown in Figure 1, 2, described running gear comprises travel wheel (8), movable motor, travel wheel support, sprocket wheel, chain and parallel orbit.Described travel wheel is fixed in frame by travel wheel support; Described movable motor is fixed in frame, and movable motor and travel wheel adopt Chain conveyer, and drive chassis is along adding parallel orbit walking.Described parallel orbit can adopt the warming pipeline be arranged in parallel being positioned at field place in greenhouse.
As shown in Figure 8, described control section is controlled by single-chip computer control system, and single-chip computer control system is provided with the decoding interface of sensor-lodging, limit signal input interface, control signal output interface, man-machine interface; Single-chip computer control system is connected driver of advancing, drive roll driver by single-chip microcomputer respectively by control signal output interface, is dialled driver, ceding of Taiwan driver and electric pushrod, and single-chip microcomputer sets according to user, drives each motor rotation or startup in good time.The single-chip computer control system of harvester is connected in series infrared emission receptor respectively by decoding interface; Food basket is collected dish amount signal by decoding interface and is input to single-chip computer control system by infrared emission receptor; Limit signal is input to single-chip computer control system by limit signal input interface by travel switch, pulse signal is obtained through process, by control signal interface, instruction is conveyed to driver of advancing, drive roll driver and ceding of Taiwan driver, each motor is controlled.
Infrared emission sensor is connected with single-chip microcomputer (STM32) by RS232 serial ports, the dish-up amount of recovering device food basket can be detected; Each driver is directly connected with the I/O of single-chip microcomputer by DA pattern, and action button is connected with single-chip microcomputer by I/O point with state display module, if harvester is working properly, status indicator lamp is green, otherwise indicator lamp is red; If the electricity of harvester is not enough, the low-voltage testing circuit that STM32 carries will detect, single-chip microcomputer sounds the alarm immediately, and harvester returns charging;
A kind of leaf vegetables of the present invention is gathered the course of work of self-propelled in-orbit recovering device of robot, and step is as follows:
1) cutter Height Adjustment: for the growing way that vegetables are different, electric pushrod telescopic band movable slider, sliding bar is slide anteroposterior together, the height of adjustment parallel-crank mechanism, the height of adjustment cutter.
2) speed adjustment: for the density situation of greenhouse vegetable, the gait of march of adjustment leaf vegetables harvester.
3) gather: gather in a line by track, then the harvesting that enters a new line.
Claims (2)
1. leaf vegetables is gathered a self-propelled in-orbit recovering device for robot, it is characterized in that comprising: frame, cutter device, dial device, conveyer, tensioning apparatus, running gear, horizontal lifting mechanism, control section and accumulator;
Described conveyer comprises drive roll, carrying roller, idler roller, driven voller, roller fixed head, conveyer belt, conveyer belt motor, sprocket wheel, vertical shaft bearing, baffle plate, flow apron, cleaning brush and dish basket; Described conveyer belt top holds up a horizontal plane by drive roll and carrying roller, and conveyer belt bottom is strained to inclined plane by driven voller, and the idler roller of conveyer belt lower floor carries out tensioning; Described drive roll two ends are fixed in frame by vertical shaft bearing, and drive roll side axle head is connected with sprocket wheel, and the sprocket wheel of axle head becomes Chain conveyer with the sprocket-shaped be connected on conveyer belt motor shaft, and drive roll driving conveying belt is rotated; Described conveyer belt motor is fixed in frame by electric machine support; The axle head of described carrying roller both sides is fixed on the roller fixed head in frame; Described idler roller two ends are fixed on roller fixed head; Described roller fixed head is provided with four slotted eyes; Described driven voller is fixed on parallel-crank mechanism; Described cleaning brush is the hairbrush of one section of cleaning conveyer belt dust, and cleaning brush is arranged on parallel-crank mechanism; Described baffle plate is fixed on parallel-crank mechanism, and two side shields block the dual-side edge of conveyer belt respectively; The support installing of described flow apron in frame, both sides flow apron formed on conveyer belt horizontal plane entrance large, go out young trapezoidal general layout, leaf vegetables falls dish basket after flow apron gathers; Described dish basket is placed in the gripper shoe of frame, and in view of solid accumulation angle, dish basket center line is put in belt edges, and leaf vegetables falls dish basket after flow apron gathers, and leaf vegetables is piled up from centre, as much as possiblely holds leaf vegetables.Conveyer utilizes the lifting of horizontal lifting device to change conveyer belt angle of inclination, thus changes the terrain clearance of conveyer bottom;
Described tensioning apparatus comprises tensioning bolt, bolt, bolt holder, square bearing seat; Described roller fixed head is provided with four slotted eyes; Four locating holes of described square bearing seat are corresponding with four slotted eyes of roller fixed head to be overlapped, and square bearing seat is fixed on roller fixed head by bolt; Described idler roller both sides axle head is fixed on square bearing seat, and described tensioning bolt is fixed on roller fixed head by bolt holder, and tensioning bolt tail end withstands square bearing seat edge center position; Conveyer belt relaxes, and tightened by tensioning bolt, tensioning bolt withstands square bearing seat, and idler roller carries out tensioning to conveyer belt, then is tightened by bolt;
Described horizontal lifting device comprises parallel-crank mechanism and elevating mechanism; Described parallel-crank mechanism comprises long connecting rod, horizon bar and rhombus bearing block; Described parallel-crank mechanism is formed by being hinged by two long connecting rods and a horizon bar; Described long connecting rod upper end, top is fixed on the roller carrier shaft of conveyer by rhombus bearing block, forms a hinge, and the through hole of long connecting rod lower end, top and the through hole of horizon bar are all fixed on the axle of driven voller, forms a hinge; All the other two hinges are that adjacent rod member passes through pinned connection; Described horizon bar keeps level, and parallel-crank mechanism is arranged symmetrically with frame upper conveyor belt both sides; Described elevating mechanism comprises slide rail, electric pushrod, drive plate, connecting plate, cross bar, sliding bar and holder; Described slide rail is made up of line slideway and slide block, and described line slideway is fixed on the symmetric position bottom frame; Described connecting plate is fixed on long connecting rod; Described cross bar two ends are affixed with two side connecting plates respectively; Described holder is fixed on the slide block of line slideway, and described sliding bar lower end and the holder be fixed on line slideway are hinged, and the upper end of sliding bar and the holder on cross bar are hinged; Described drive plate two ends are fixed on the slide block of both sides line slideway respectively; Described electric pushrod base is fixed on the pusher bar support of frame, and electric pushrod is fixed on drive plate by bearing, and electric pushrod and line slideway keeping parallelism; The flexible drive plate that promotes of described electric pushrod drives slide block, and sliding bar is with slide block slide anteroposterior, and cross bar drives parallel-crank mechanism movable, thus changes the terrain clearance of horizon bar; When the horizon bar of parallel-crank mechanism changes terrain clearance, the driven voller of conveyer changes terrain clearance with horizon bar, the conveyer belt of conveyer rotates around carrying roller axle center simultaneously, by changing conveyer belt angle of inclination, thus changes the terrain clearance of conveyer bottom;
Described cutter device comprises cutter, drive motors, eccentric wheel, driving crank, motor support base, gear case assembly, driving square groove, ground way, cutter gripper shoe and nearside divider; Described driving crank, eccentric wheel, driving square groove composition slider-crank mechanism; Described driving square groove is the rectangular shaped rim that a upper surface is provided with terraced steps, drives square groove scuncheon to be all provided with slotted eye; Described ground way is one section of guide rail being provided with a pair dovetail groove, and described ground way is fixed on the casing of gear assembly; Former and later two drive the terraced steps of square groove upper surface to be enclosed within dovetail groove corresponding to ground way respectively; Described eccentric wheel is the circular wheel being provided with an eccentric through-hole, two eccentric wheel edges are embedded in two slotted eyes driving square groove respectively, described driving crank is connected through the eccentric through-hole on two eccentric wheels and two eccentric wheels, the axle center of double eccentric wheel and the axle center of driving crank in alignment, to reduce and to eliminate the vibrations that Cutting obstruction moment causes; Described cutter is the blade that a length of tape has intensive cutter tooth, is provided with some slotted eyes on rear side of cutter; Described cutter gripper shoe be provided with some circular holes, cutter gripper shoe two ends are fixed on parallel-crank mechanism horizon bar; Cutter device adopts two cutter, and upper and lower two panels blade is bolted in cutter gripper shoe, and two cutter one end drive square groove affixed with front and back two respectively; Described drive motors is fixed on horizon bar by motor support base; Described gear case assembly comprises input gear, driven wheel and casing; Described input gear and driven wheel are fixed and are engaged in casing, adopt pinion band gear wheel to carry out retarded motion and obtain moment of torsion, driven wheel and drive motors axle affixed, input gear and driving crank one end affixed, gear-box is fixed on horizon bar by casing; Drive motors rotates, driven wheel drives driving crank, and the eccentric wheel be connected with driving crank is driving eccentric rotary in square groove, and front and back two drive square groove to do relative motion in ground way, drive square groove to drive upper and lower two panels cutter to link to move reciprocatingly, realize cutter tooth alternately; Be fixed on the cutter device on the platform of parallelogram and conveyer belt bottom, carry out horizontal lifting with parallel-crank mechanism motion, adapt to the vegetables of differing heights;
Described group hold together device comprise dial hold together device, dial hold together support, bearing block, electric rotating machine, belt wheel and belt.Described support of dialling is fixed on long connecting rod, and described device of dialling comprises bobbin and dials rope; Described bobbin is provided with a circular hole every 90 ° in a circumferential direction, is provided with a circular hole in the axial direction every 8-10mm, and described bobbin two ends are provided with multidiameter, and two ends multidiameter is fixed on group bearing block holding together support; Described rope of dialling is fixed on the circular hole of bobbin by two end knots; Described electric rotating machine is fixed on long connecting rod by electric machine support; Electric rotating machine is driven by V belt translation and dials device rotation, dials rope and stretches out whipping under the influence of centrifugal force, push on conveyer belt by the leaf vegetables of the harvesting of accumulation;
Described running gear comprises travel wheel, movable motor, travel wheel support, sprocket wheel, chain and parallel orbit; Described travel wheel is fixed in frame by travel wheel support; Described movable motor is fixed in frame, and movable motor and travel wheel adopt Chain conveyer, and drive chassis is along adding parallel orbit walking; Described parallel orbit can adopt the warming pipeline be arranged in parallel being positioned at field place in greenhouse;
Described control section connects infrared emission inductor and rotary encoder by the minimum control system of single-chip microcomputer by decoding interface, and infrared emission receptor obtains the collection dish amount of food basket on harvester, and rotary encoder obtains the displacement information of recovering device; The minimum control system of single-chip microcomputer is by limit signal input interface serial connection travel switch, the minimum control system of single-chip microcomputer is connected driver of advancing, drive roll driver respectively by control signal output interface, is dialled driver and ceding of Taiwan driver, controls each driver and starts in good time or close.
2. a kind of facility of the present invention leaf vegetables is gathered the collecting method of self-propelled in-orbit recovering device of robot according to claim 1:
Single-chip Controlling electric pushrod drives horizontal lifting mechanism adjustment cutter terrain clearance, start driver of advancing, drive roll driver, dial driver and ceding of Taiwan driver, recovering device completes harvesting to results region in orbit, the leaf vegetables of harvesting pushes on conveyer through dialling device, and leaf vegetables enters food basket by conveyer; After food basket fills with leaf vegetables, food basket dish-up amount information experienced by infrared emission sensor, single-chip computer control system sends instruction by control signal output interface and closes driver of advancing, drive roll driver, dials driver and ceding of Taiwan driver, electric pushrod rises reaping apparatus, and recovering device continues harvesting vegetables after changing empty food basket; When the edge of a field encountered by the travel switch of recovering device, recovering device is closed driver of advancing and is halted.
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| CN105123128A (en) * | 2015-09-24 | 2015-12-09 | 上海坤孚企业(集团)有限公司 | Vegetable stirring mechanism of vegetable harvester |
| CN105165241A (en) * | 2015-09-24 | 2015-12-23 | 上海坤孚企业(集团)有限公司 | Cutting mechanism for vegetable cutting on vegetable harvester |
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| CN111771520A (en) * | 2020-08-05 | 2020-10-16 | 潍坊学院 | Automatic harvesting device for greenhouse vegetable planting |
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| CN113207434A (en) * | 2021-04-30 | 2021-08-06 | 无锡悦田农业机械科技有限公司 | Efficient leaf vegetable harvester system and control working method |
| CN113455181A (en) * | 2021-07-02 | 2021-10-01 | 浙江理工大学 | Rotary driving type full-automatic water-cultured leaf vegetable harvesting vehicle |
| CN114902868A (en) * | 2022-05-30 | 2022-08-16 | 江苏大学 | Harvester for accurately cutting broccoli |
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| CN106005941A (en) * | 2016-06-20 | 2016-10-12 | 路惠忠 | Material arranging platform for assembling synchronizer components |
| CN106069277A (en) * | 2016-06-22 | 2016-11-09 | 四川农业大学 | A kind of vegetable is from the micro-office system of auxiliary operation and method |
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| CN107980354A (en) * | 2017-12-11 | 2018-05-04 | 佛山市田森温室科技有限公司 | A kind of automatic vegetables picker |
| CN109121703A (en) * | 2018-09-18 | 2019-01-04 | 赣州双木科技有限公司 | The rail set and control method that a kind of harvesting machine people's air defense of tea place washes from |
| CN110169257A (en) * | 2019-07-05 | 2019-08-27 | 朱永干 | The orderly harvester of dense planting vegetables |
| CN111285026A (en) * | 2020-02-25 | 2020-06-16 | 六安正辉优产机电科技有限公司 | Quick collection assembly convenient for seed storage |
| CN111615927A (en) * | 2020-06-15 | 2020-09-04 | 陈佳璇 | Harvesting device for corm flower horticultural crops |
| CN111771520A (en) * | 2020-08-05 | 2020-10-16 | 潍坊学院 | Automatic harvesting device for greenhouse vegetable planting |
| CN111771520B (en) * | 2020-08-05 | 2021-07-23 | 潍坊学院 | Automatic harvesting device for greenhouse vegetable planting |
| CN112425357A (en) * | 2020-11-12 | 2021-03-02 | 界首市永银种植专业合作社 | A reaping apparatus for medicinal material |
| CN113207434A (en) * | 2021-04-30 | 2021-08-06 | 无锡悦田农业机械科技有限公司 | Efficient leaf vegetable harvester system and control working method |
| CN113207434B (en) * | 2021-04-30 | 2022-07-26 | 无锡悦田农业机械科技有限公司 | Efficient leaf vegetable harvester system and control working method |
| CN113455181A (en) * | 2021-07-02 | 2021-10-01 | 浙江理工大学 | Rotary driving type full-automatic water-cultured leaf vegetable harvesting vehicle |
| CN114902868A (en) * | 2022-05-30 | 2022-08-16 | 江苏大学 | Harvester for accurately cutting broccoli |
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